TIL (from http://tom94.net , who is not on twitter afaik) if you interpolate camera matrices in log space, the center of rotation is preserved. this is awesome for smoothing camera paths and I cant believe I didnt do this before. may this tweet make you less dumb than me
Supposedly there is another slice that I was too busy with other projects to be a part of, but, I got a bunch of emails about it. I believe some grad students later proved that exponential map also isn't constant speed. But don't quote me on that.
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If that's accurate then they are "the worst of all worlds" - non-constant speed, non-torque minimal :( If you're studying this stuff now I can try to dig up the emails for you...
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OK found it - it's actually just in the dual quaternion blending paper!pic.twitter.com/uGUaKq304Z
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